Distributed control system for a mobile robot: Tasks and software architecture

Abstract

This article discusses several aspects of the distributed control system being developed for a mobile robot. The aim for the system is ease of use for educational purposes and flexibility for easier and faster robot development for new projects. Movement tasks are formulated for better understanding of the distributed program architecture. The network protocols necessary for the system's operation are discussed. The higher level protocol's concept being developed by the authors is provided and an example of the protocol use is presented. © 2011 Springer-Verlag.